Robot end effector

Abstract

A robot end effector (10) for holding a fabric workpiece (64) against a working surface (74) has a rigid backing member (11), a facing strip material (13) arranged to contact the workpiece (64) around its periphery and a resilient intermediate layer (12) between the backing member (11) and the facing strip material (13), the width (w) of the facing strip material (13) being no greater than the thickness (t) of the intermediate layer (12).

We claim: 
     
       1. A robot end effector comprising a rigid backing member comprising a lightweight composite panel of laminated construction having a honeycomb core,   electrically conductive facing strip material arranged to contact a workpiece adjacent to the periphery of the workpiece and   a resilient intermediate layer between the backing member and the facing strip material, there being at least one void space between the backing member and a plane containing the facing strip material.   
     
     
       2. A robot end effector according to claim 1, in which the resilient intermediate layer is made of a material which requires a force of from 80 to 120 kg/m 2  to compress it 1 mm. 
     
     
       3. A robot end effector according to claim 1, in which the intermediate layer is made of a foam. 
     
     
       4. A robot end effector according to claim 3, in which the foam is a high resilient grade of polyurethane foam. 
     
     
       5. A robot end effector according to claim 1, in which the width of the intermediate layer where it is adjoined to the backing member is greater than the width of the intermediate layer where it is adjoined to the facing strip material. 
     
     
       6. A robot end effector according to claim 5, in which the intermediate layer has a cross-sectional shape such that an inwardly facing side thereof is at an inclined angle to the backing plate. 
     
     
       7. A robot end effector according to claim 5, in which the intermediate layer has a cross-section of trapezoidal form. 
     
     
       8. A robot end effector according to claim 1, in which the backing member has at least one aperture therein. 
     
     
       9. A robot end effector according to claim 1, in which the resilient intermediate layer has a thickness of from 20 mm to 30 mm, and the facing strip material has a width of less than 20 mm. 
     
     
       10. A robot end effector according to claim 9, in which the facing strip material has a thickness of substantially 1 mm. 
     
     
       11. A robot end effector according to claim 1, in which the width of the facing strip material is no greater than the thickness of the intermediate layer. 
     
     
       12. A robot end effector according to claim 1, in which the facing strip material is made of a rubber containing electrically conductive particles. 
     
     
       13. A robot end effector comprising a rigid backing member, electrically conductive facing strip material arranged to contact a workpiece adjacent to the periphery of the workpiece and made of rubber containing electrically conductive particles, and a resilient intermediate layer between the backing member and the facing strip material, there being at least one void space between the backing member and a plane containing the facing strip material. 
     
     
       14. A robot end effector according to claim 13, in which the rigid backing member comprises a lightweight composite panel.